Refactor CMake with JRL CMake Modules v2 (v2) by ahoarau · Pull Request #40 · Simple-Robotics/nanoeigenpy

ahoarau · 2026-01-05T13:59:27Z

⚠️DO NOT MERGE UNTIL jrl-umi3218/jrl-cmakemodules#798 is merged ⚠️

This PR is a full rewrite of the CMake files with the JRL CMake Modules v2.

Full rewrite of the CMake Files in modern CMake
Remove submodules: archives can now be used
Migrate python tests to pytest
🚧 NIX CI is temporarily disabled

NOTE: This the commit are cherry-picked and squashed from the previously accidentitaly merged #28

ManifoldFR

Seems good to me overall 😄

ManifoldFR · 2026-01-17T11:48:16Z

@nim65s we will need a followup PR for Nix in the future 😃

jorisv · 2026-06-02T12:23:20Z

+
+# Stub generation requires typing-extensions
+# ROS Humble ships an incompatible typing-extensions with python3.10
+if(Python_VERSION VERSION_GREATER_EQUAL 3.11.0)


This mean we don't generate stub on python 3.10 even on non ROS system ?
Do we have another way to detect being build on ROS with python 3.10 ?

replaced by checking the typing_extension that needs to be >=4.1

With jrl-umi3218/jrl-cmakemodules#866, we can do a better handling of this version check like this:

if(NANOEIGENPY_GENERATE_STUBS) if(Python_VERSION VERSION_LESS 3.11) jrl_check_python_module(typing_extensions 4.1.0 REQUIRED) endif() nanobind_add_stub( nanoeigenpy_stub VERBOSE MODULE nanoeigenpy OUTPUT ${CMAKE_BINARY_DIR}/lib/site-packages/nanoeigenpy.pyi PYTHON_PATH $<TARGET_FILE_DIR:nanoeigenpy> DEPENDS nanoeigenpy ) endif()

For the Ubuntu 22 CI, its up to them to manually set -DNANOEIGENPY_GENERATE_STUBS=OFF, otherwise they will have a FATAL_ERROR.
This is more aligned with the "if user wants a feature by setting an option, REQUIRE the dependency".

…n < 3.11

eigen does not initialize matrices at construction by default

jorisv · 2026-08-06T09:44:45Z

+
+jrl_option(BUILD_TESTING "Build the tests" OFF)
+
+jrl_option(INSTALL_DOCUMENTATION "Generate and install the documentation" OFF)


It miss BUILD_DOCUMENTATION and the documentation subdirectory (it was done by default by legacy jrl cmake module)

OFF by default ?

jorisv · 2026-08-06T09:47:21Z

+  ${nanoeigenpy_HEADERS}
+)
+jrl_target_set_output_directory(nanoeigenpy OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/lib/site-packages)
+jrl_target_enforce_msvc_conformance(nanoeigenpy PRIVATE)


It miss jrl_target_set_default_compile_options

You put this on the nanoeigenpy_headers as interface. This will be forwarded to all consumer. Better only apply it on tests and binding.

indeed. Now it's on the python bindings in PRIVATE. (there are no cpp tests)

ahoarau marked this pull request as draft January 5, 2026 14:05

ahoarau force-pushed the jrl-next-v2 branch from 36566e6 to 1a0784c Compare January 5, 2026 16:17

ManifoldFR marked this pull request as ready for review January 9, 2026 20:55

ManifoldFR enabled auto-merge January 9, 2026 20:55

ManifoldFR reviewed Jan 9, 2026

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Comment thread CHANGELOG.md Outdated

Comment thread CMakeLists.txt Outdated

Comment thread CMakeLists.txt Outdated

Comment thread CMakeLists.txt Outdated

ahoarau marked this pull request as draft January 10, 2026 07:25

auto-merge was automatically disabled January 10, 2026 07:25
Pull request was converted to draft

ahoarau force-pushed the jrl-next-v2 branch from 2eb9a9f to 4aa0c89 Compare January 10, 2026 14:32

ManifoldFR marked this pull request as ready for review January 10, 2026 16:01

ahoarau marked this pull request as draft January 12, 2026 06:29

ahoarau force-pushed the jrl-next-v2 branch 2 times, most recently from 5cedb44 to 099bd00 Compare January 16, 2026 09:56

ManifoldFR marked this pull request as ready for review January 17, 2026 10:00

ahoarau force-pushed the jrl-next-v2 branch 2 times, most recently from 05572ce to fcf926d Compare January 17, 2026 11:28

ManifoldFR approved these changes Jan 17, 2026

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ahoarau force-pushed the jrl-next-v2 branch 2 times, most recently from 31fceae to e300dd5 Compare February 6, 2026 08:55

ahoarau mentioned this pull request Feb 11, 2026

CMake: use of Python_SITELIB #23

Open

ManifoldFR linked an issue Feb 11, 2026 that may be closed by this pull request

CMake: use of Python_SITELIB #23

Open

ahoarau force-pushed the jrl-next-v2 branch 2 times, most recently from 5b8813f to d8ac8b7 Compare March 18, 2026 15:47

ahoarau force-pushed the jrl-next-v2 branch from d8ac8b7 to 806e74c Compare April 21, 2026 08:11

ahoarau force-pushed the jrl-next-v2 branch 2 times, most recently from 7b4631c to a747b22 Compare May 11, 2026 12:03

jorisv requested changes Jun 2, 2026

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ahoarau added 3 commits July 28, 2026 15:03

cpp: remove unused macros in fwd.hpp

fa5b2e7

cpp: add dependency headers wrt a compile def

f61c95e

cpp: merge internal.h into module.cpp

bd38f60

ahoarau added 8 commits July 28, 2026 15:09

ci-ros: bump ros-i version

8a52b56

ci-ros: add lyrical

6ec9e20

cmake: update jrl link to jrl-umi3218 (upstream)

ea1e48a

pixi: comment out pixi build

b8c974b

changelog: more updates from jrl-v2 PR

7a74c36

cmake: always generate the ros2 pkg files

d1e0ed4

pre-commit: update gersemi repo and version

f00e232

cmake: allow to use jrl FindCHOLMOD.cmake when config is not present

3f57354

ahoarau force-pushed the jrl-next-v2 branch from bb06bef to 3f57354 Compare July 28, 2026 13:57

ci-linux: add ubuntu 22/24 CI

90c2b18

ahoarau force-pushed the jrl-next-v2 branch 2 times, most recently from 15991d9 to 740f19f Compare July 28, 2026 15:26

ahoarau added 2 commits July 28, 2026 17:51

cmake: stubs generations requires typing_extensions >= 4.1.0 on pytho…

d651774

…n < 3.11

pytest: fix initial value

8c94cb8

eigen does not initialize matrices at construction by default

ahoarau force-pushed the jrl-next-v2 branch from 740f19f to 8c94cb8 Compare July 28, 2026 15:52

ahoarau added 3 commits July 28, 2026 18:13

tests: conjugate gradients needs a symmetric positive definite matrix

604414f

cmake: add EXPECTED_TARGETS

22c890e

cmake: install pywrap as TARGET for rpath

b3e34be

jorisv requested changes Aug 6, 2026

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jorisv reviewed Aug 6, 2026

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Comment thread tests/CMakeLists.txt Outdated

jorisv and others added 10 commits August 6, 2026 15:04

pixi: Add lint and update new-version environment

b5e75af

dev: Add release instruction

6033494

ci-pixi: add --skip-deps

3362d9f

cmake: add jrl_target_set_default_compile_options

34528f3

cmake: rename tests

fc7ad01

cmake: cosmetic remove vars

a9cdfb4

cmake: add APPLE cond to Accelerate

298b914

add back BUILD_DOCUMENTATION (doxygen+graphviz)

24ce80e

cmake: compile options for the python module, not the headers

36e946b

cmake: BUILD_DOCUMENTATION is off by default

fe61157


		jrl_option(BUILD_TESTING "Build the tests" OFF)

		jrl_option(INSTALL_DOCUMENTATION "Generate and install the documentation" OFF)

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ManifoldFR commented Jan 17, 2026

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ahoarau commented Jan 5, 2026 •

edited

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